CN103569377A - Space target simulation system for on-orbit serving - Google Patents
Space target simulation system for on-orbit serving Download PDFInfo
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- CN103569377A CN103569377A CN201210276782.2A CN201210276782A CN103569377A CN 103569377 A CN103569377 A CN 103569377A CN 201210276782 A CN201210276782 A CN 201210276782A CN 103569377 A CN103569377 A CN 103569377A
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Abstract
The invention discloses a space target simulation system for space on-orbit serving, which comprises a space target body simulation part and a space target motion simulation part which are used for simulating a real on-orbit satellite on geometrical characteristics. The space target body simulation part comprises a satellite body, a solar array, a solar array bracket, a communication antenna backing plate, a satellite-rocket docking ring and an apogee engine; the solar array is arranged on the solar array bracket; the solar array bracket, the satellite-rocket docking ring and the apogee engine are arranged on the satellite body; the space target motion simulation part comprises a space target mass center pose simulation part and a spin motion simulation part; the spin motion simulation part is placed on the space target mass center pose simulation part; the spin motion simulation part is connected with the satellite-rocket docking ring. The space target simulation system can implement simulation on the geometrical characteristics and the motion state of a space target body and provides an operation object for research on technologies of on-orbit serving, target measurement and target acquisition.
Description
Technical field
The present invention relates to the technical field of service in-orbit, target measurement and the target acquisition of spacecraft, specifically, refer to the extraterrestrial target analog system of serving for in-orbit.
Background technology
So-called service in-orbit, refers in space by people, robot (or class robot satellite) or both and has worked in coordination with to relate to Space configuration, maintenance and the service role of prolongation satellite, platform, attached cabin, space station and space vehicle life-span and ability.
In the past, in service role in-orbit, the research of Target self-determination capture technique was focused mostly in target acquisition strategy, target acquisition planning and control, target acquisition modeling and control etc.Treat the feature of target acquisition itself and motion characteristics and pay close attention to lessly, in these researchs, often target is reduced to three axis stabilization or around the fixing rigid body of He Xuanzhuan.Along with development and the research of correlation technique are day by day deep, service technology is just progressively marched toward the Project Realization stage in-orbit, in the urgent need to grasping kinematics and the dynamics for the treatment of service object, and accurately simulate, think that on ground, carrying out sufficient verification experimental verification provides the operand approaching with task in-orbit, this is prerequisite and the basis of carrying out service role emulation in-orbit and verification experimental verification.
At present, to spin noncooperative target in-orbit the research of capture technique obtained certain achievement, comprise the target that spin measurement and motion prediction, catch preplanning, catch the stable control of rear complex system etc.Meanwhile, spin target travel specificity analysis and ground simulation method have also been carried out to part Study, the method for main simulation comprises digital simulation, three-axle table and turntable+air floating table at present.Wherein, digital simulation method is very important in the Design & Analysis of System stage, have advantages of realize simple, small investment, alerting ability is high, but some part is difficult to be described with accurate math modeling, such as the error model in actual mechanical process is just difficult to accurate foundation; Though got involved physical model in three-axle table method, due to the constraint of its geometric configuration and volume aspect, be not suitable for demonstrating intuitively the task of independently catching of target, be usually used in goal in research attitude, the attitude motion of simulation spin axis; The mode of turntable+air floating table can well be simulated position and the attitude of spin target, the truest on simulate effect, but carrying out of the foundation of pilot system and experimental duties is very complicated, huge cost be need to drop into, the verification experimental verification of gordian technique and the demonstration of typical operation task are in earlier stage unfavorable for.
Summary of the invention
The object of the present invention is to provide a kind of extraterrestrial target analog system for serving in-orbit, it can overcome above-mentioned defect, sets up a kind of set target simulation system of spacecraft representative geometric features in-orbit, and the simulation of implementation space target state.
For achieving the above object, the present invention adopts following technical scheme:
A kind of extraterrestrial target analog system for On-orbit servicing, be included in extraterrestrial target body simulation part and the extraterrestrial target motion simulation part of Reality simulation satellite in orbit on geometric properties, described extraterrestrial target body simulation part, include satellite body, solar array, solar array support, communication antenna backboard, satellite-rocket docking ring and apogee engine, described solar array is located on described solar array support, and described solar array support, satellite-rocket docking ring and apogee engine are located on described satellite body; Described extraterrestrial target motion simulation partly comprises extraterrestrial target barycenter pose simulation part and spin motion simulation part, described spin motion simulation part is placed with extraterrestrial target barycenter pose simulation part upper, described spin motion simulation part and is connected with described satellite-rocket docking ring.
Above-mentioned extraterrestrial target barycenter pose simulation part is divided into industrial robot.
Above-mentioned spin motion simulation part, it comprises spin axis, gear drive, actuating device, power sensor and anchor shaft, described gear mechanism is connected with described actuating device, described gear drive, power driver are located on described anchor shaft, and described spin axis is connected with described gear drive.
Above-mentioned gear drive comprises mount pad, driving gear, intermediate gear and driven gear, described driving gear, intermediate gear and driven gear are arranged on described mount pad, described driving gear is connected with described actuating device, described driving gear is meshed with described intermediate gear, and described driven gear is meshed with described intermediate gear.
Adopt after technique scheme, the present invention, can implementation space target body geometric properties and the simulation of state of kinematic motion, for the research of the technology of service in-orbit, target measurement and target acquisition provides operand.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of extraterrestrial target analog system function of the present invention;
Fig. 2 is the structural representation of extraterrestrial target analog system of the present invention;
Fig. 3 is the structural representation of extraterrestrial target body simulation part of the present invention;
Fig. 4 is the structural representation of extraterrestrial target motion simulation part of the present invention.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Noncooperative target is measured and the technology of arresting is difficult point and the gordian technique in service role process in-orbit, extraterrestrial target analog system, and being intended to the ground validation of gordian technique for this reason provides operand.Shown in figure 1,2, whole analog system comprises extraterrestrial target body simulation part 1 and extraterrestrial target motion simulation part 2 these two parts.Extraterrestrial target body simulation part 1 has comprised the representative geometric features of spacecraft in-orbit, mainly comprised that solar array 11, solar array support 12, communication antenna backboard 13, satellite-rocket docking ring 14, apogee engine 15 and satellite body 16(are exactly satellite shell, cuboid),, the physical dimension of these parts for truly in-orbit spacecraft according to certain pantograph ratio, obtain.Extraterrestrial target motion simulation part 2 can implementation space target state simulation, comprise translation, rotation and spin etc., it mainly comprises simulation part 22 and spin motion simulation part 21 two parts of extraterrestrial target barycenter pose (position and attitude).
Shown in figure 3, the solar array support 12 of extraterrestrial target body simulation part 1 is two, is located at respectively the both sides of satellite body 16, and solar array 11 is corresponding with solar array support 12, and each solar array 11 is located on each solar array support 12.In this simulation is implemented, solar array support 12 is triangle, and solar array 11 is a kind of collection solar devices, its groundwork is to utilize the photoelectric effect of the metals such as silicon (Si), converts solar energy into electrical energy, and then stores, in the present embodiment, as one of object of target measurement.For the communication antenna backboard 13 fixing up an aerial wire, be also provided with two, be mounted in respectively the other both sides of satellite body 16, in the present embodiment, it is one of object as target measurement, and it can be used as the feature of pose measurement.Satellite-rocket docking ring 14, it is the mechanism when docking with rocket, it is arranged on the upper surface of satellite body 16, in the present embodiment, as one of the object of target measurement and capture point of target acquisition.
Apogee engine 15, it arrives task track for satellite is carried out to track transfer; When implementing, it is located at the upper surface of satellite body 16 through satellite-rocket docking ring 14, in the present embodiment, and as one of the object of target measurement and capture point of target acquisition.
Shown in figure 4, extraterrestrial target motion simulation part 2, it includes simulation part 22 and the spin motion simulation part 21 of extraterrestrial target barycenter pose, wherein:
Spin motion simulation part 21, it comprises spin axis 211, gear drive 212, actuating device 213, power sensor 214 and anchor shaft 215, wherein: in the present embodiment, actuating device 213 is motor, gear drive 212 comprises mount pad 2121, driving gear 2122, intermediate gear 2123 and driven gear 2124, and driven gear 2124 sets firmly with spin axis 211.Driving gear 2122, intermediate gear 2123 and driven gear 2124 are arranged on mount pad 2121, mount pad 2121 is installed on anchor shaft 215, driving gear 2122 is connected with motor, it rotates under the drive of motor, intermediate gear 2123 is meshed with driving gear 2122, therefore, driving gear 2122 also drives intermediate gear 2123 to rotate, driven gear 2124 is meshed with intermediate gear 2123, therefore, driven gear 2124 also rotates under the drive of intermediate gear 2123, thereby drive spin axis 211 to rotate, the upper end of spin axis 211 is connected with satellite-rocket docking ring 14.Sensor 214 is arranged on the lower end of anchor shaft 215.
Spin motion simulation part 21, installs strong sensor 214.Power sensor 214 can be measured three-dimensional force and moment, for perception outside to satellite body 16 and install and the situation of each parts implementation and operation on it.
The simulation part 22 of extraterrestrial target barycenter pose, in the present embodiment, it is realized by 6DOF industrial robot.Extraterrestrial target barycenter pose simulation part 22, comprise the motion of 6DOF altogether of target centroid position simulation (3DOF) and target barycenter attitude-simulating (3DOF), the coordinate Z axis orientation that wherein attitude-simulating part is represented in its attitude by spin axis 211, all the other two azimuthal coordinates axle X and Y be the normal plane in Z axis according to right-hand rule.That is, the attitude of spin axis 211 can representation space target barycenter attitude, and spin axis 211 is settled and industrial machine robot ends, and the intersection point of spin axis 211 and industrial machine robot end is the position of the barycenter of extraterrestrial target.According to the extraterrestrial target characteristics of motion, can obtain position and attitude (being the pose of the industrial machine robot end) motion of 6DOF altogether of the required simulation of extraterrestrial target barycenter, Inverse Kinematics Solution by industrial robot, can obtain the angle of each joint angle expectation of industrial robot, by industrial robot is implemented to control, make its state (each joint angle equals the angle of expectation) in expectation, completed the simulation of extraterrestrial target barycenter pose.
In the specific implementation, the industrial robot of 6DOF, the GRB3016 robot system that can adopt Googol Technology (Shenzhen) Ltd. to provide.
The above; be only the present invention's specific embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (4)
1. the extraterrestrial target analog system for On-orbit servicing, it is characterized in that: the extraterrestrial target body simulation part and the extraterrestrial target motion simulation part that are included in Reality simulation satellite in orbit on geometric properties, described extraterrestrial target body simulation part, include satellite body, solar array, solar array support, communication antenna backboard, satellite-rocket docking ring and apogee engine, described solar array is located on described solar array support, and described solar array support, satellite-rocket docking ring and apogee engine are located on described satellite body; Described extraterrestrial target motion simulation partly comprises extraterrestrial target barycenter pose simulation part and spin motion simulation part, described spin motion simulation part is placed with extraterrestrial target barycenter pose simulation part upper, described spin motion simulation part and is connected with described satellite-rocket docking ring.
2. the extraterrestrial target analog system for serving in-orbit according to claim 1, is characterized in that: described extraterrestrial target barycenter pose simulation part realizes based on industrial robot.
According to claim 1 and 2 for in-orbit service extraterrestrial target analog system, it is characterized in that: described spin motion simulation part, it comprises spin axis, gear drive, actuating device, power sensor and anchor shaft, described gear mechanism is connected with described actuating device, described gear drive, power driver are located on described anchor shaft, and described spin axis is connected with described gear drive.
According to claim 3 for in-orbit service extraterrestrial target analog system, it is characterized in that: described gear drive comprises mount pad, driving gear, intermediate gear and driven gear, described driving gear, intermediate gear and driven gear are arranged on described mount pad, described driving gear is connected with described actuating device, described driving gear is meshed with described intermediate gear, and described driven gear is meshed with described intermediate gear.
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| CN201210276782.2A CN103569377A (en) | 2012-08-06 | 2012-08-06 | Space target simulation system for on-orbit serving |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792346A (en) * | 2015-02-15 | 2015-07-22 | 中国科学院光电研究院 | Indoor simulation device for space target optical characteristic actual measurement conditions |
| CN104821131A (en) * | 2015-05-14 | 2015-08-05 | 佛山市三水区希望火炬教育科技有限公司 | Spacewalker solar robot for repairing space station specially used for teenager science popularization teaching |
| CN108394572A (en) * | 2018-03-02 | 2018-08-14 | 北京空间技术研制试验中心 | A kind of analogy method of maintainable technology on-orbit spacecraft |
| CN109436386A (en) * | 2018-12-27 | 2019-03-08 | 北京航天长征飞行器研究所 | Major diameter vacuum tank tests TT&C system |
| CN112789219A (en) * | 2018-08-23 | 2021-05-11 | 空客防务与空间有限公司 | Spacecraft, launcher and stack of spacecraft |
| CN114104346A (en) * | 2020-08-27 | 2022-03-01 | 北京机械设备研究所 | Ground simulation system of satellite servo mechanism |
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| CN202807109U (en) * | 2012-08-06 | 2013-03-20 | 深圳航天东方红海特卫星有限公司 | Space target simulation system used for on-orbit service |
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| JPH07187100A (en) * | 1993-12-28 | 1995-07-25 | Nec Corp | Simulation device for spacecraft dynamics |
| US20050230557A1 (en) * | 2003-12-30 | 2005-10-20 | Canadian Space Agency | Zero-G emulating testbed for spacecraft control system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792346A (en) * | 2015-02-15 | 2015-07-22 | 中国科学院光电研究院 | Indoor simulation device for space target optical characteristic actual measurement conditions |
| CN104792346B (en) * | 2015-02-15 | 2017-05-24 | 中国科学院光电研究院 | Indoor simulation device for space target optical characteristic actual measurement conditions |
| CN104821131A (en) * | 2015-05-14 | 2015-08-05 | 佛山市三水区希望火炬教育科技有限公司 | Spacewalker solar robot for repairing space station specially used for teenager science popularization teaching |
| CN104821131B (en) * | 2015-05-14 | 2017-01-25 | 佛山市三水区希望火炬教育科技有限公司 | Spacewalker solar robot for repairing space station specially used for teenager science popularization teaching |
| CN108394572A (en) * | 2018-03-02 | 2018-08-14 | 北京空间技术研制试验中心 | A kind of analogy method of maintainable technology on-orbit spacecraft |
| CN108394572B (en) * | 2018-03-02 | 2019-02-26 | 北京空间技术研制试验中心 | A kind of analogy method of maintainable technology on-orbit spacecraft |
| CN112789219A (en) * | 2018-08-23 | 2021-05-11 | 空客防务与空间有限公司 | Spacecraft, launcher and stack of spacecraft |
| CN112789219B (en) * | 2018-08-23 | 2021-11-16 | 空客防务与空间有限公司 | Spacecraft, launcher and stack of spacecraft |
| CN109436386A (en) * | 2018-12-27 | 2019-03-08 | 北京航天长征飞行器研究所 | Major diameter vacuum tank tests TT&C system |
| CN114104346A (en) * | 2020-08-27 | 2022-03-01 | 北京机械设备研究所 | Ground simulation system of satellite servo mechanism |
| CN114104346B (en) * | 2020-08-27 | 2023-11-07 | 北京机械设备研究所 | Ground simulation system of satellite servo mechanism |
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